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docs: add EnhancedDepthFilter parameters and usage examples to application guide

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ob-yalian
2026-07-17 10:30:25 +08:00
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -267,6 +267,15 @@ The following are the launch parameters available:
* **`enable_false_positive_filter`**
* Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
> **Supported Modules**: Gemini 330 series / Gemini 340 series
* **`enable_enhanced_depth`**
* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_model_path`**
* Path to the LingBot `model.sm4` file. The default is empty. This parameter is required when enhanced depth filtering is enabled; an absolute path is recommended. The model file cannot be changed at runtime.
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_confidence_threshold`**
* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
> **Supported Modules**: Gemini 330 series
* **`enable_fps_boost`**
* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
> **Supported Modules**: Gemini 330 series
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -231,7 +231,7 @@
### Depth Filter Configuration
* `/camera/set_filter`
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
```bash
# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
@@ -263,6 +263,9 @@
# Set FalsePositiveFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'
# Set EnhancedDepthFilter: [confidence_threshold]. The threshold must be an integer from 0 to 255.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EnhancedDepthFilter, filter_enable: true, filter_param: [60]}'
# Set MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'
@@ -274,6 +277,7 @@
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: EnhancedDepthFilter, filter_enable: true, filter_config: [{name: confidence_threshold, value: '60'}]}"
# Set DispOutliersFilter. search_mode accepts FULL or OFFSET_80, case-insensitive.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"
docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -266,6 +266,15 @@
* **`enable_false_positive_filter`**
* 启用鬼影滤波。可减少重影噪声，使用示例和运行时调参方法请参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。
> **支持模组**：Gemini 330 系列 / Gemini 340 系列。
* **`enable_enhanced_depth`**
* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [ROS2 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
> **支持模组**：Gemini 330 系列。
* **`enhanced_depth_model_path`**
* LingBot `model.sm4` 文件路径，默认值为空。启用增强深度滤波时必须设置，建议使用绝对路径；运行时不能更换模型文件。
> **支持模组**：Gemini 330 系列。
* **`enhanced_depth_confidence_threshold`**
* 增强深度滤波的置信度阈值，必须是 `0` 到 `255` 之间的整数，默认值为 `51`。
> **支持模组**：Gemini 330 系列。
* **`enable_fps_boost`**
* 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
> **支持模组**：Gemini 330 系列。
docs/zh/source/camera_devices/4_application_guide/services.md
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@@ -231,7 +231,7 @@
### 深度滤波器配置
* `/camera/set_filter`
`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。
`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。`EnhancedDepthFilter` 的环境要求、启动参数和状态确认方法可参考 [ROS2 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
```bash
# filter_name 为滤波器名称，filter_enable 表示是否开启滤波器开关。
# filter_param 为旧的按位置传参方式；filter_config 为新的命名参数方式。
@@ -264,6 +264,9 @@
# 设置 FalsePositiveFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'
# 设置 EnhancedDepthFilter: [confidence_threshold]，阈值必须是 0 到 255 之间的整数
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EnhancedDepthFilter, filter_enable: true, filter_param: [60]}'
# 设置 MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'
@@ -275,6 +278,7 @@
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: EnhancedDepthFilter, filter_enable: true, filter_config: [{name: confidence_threshold, value: '60'}]}"
# 设置 DispOutliersFilter。search_mode 支持 FULL 或 OFFSET_80，大小写不敏感。
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"